matlabbe
commented
1 year ago There is an issue with rtabmap.launch.py on foxy, but it works on ROS Galactic. I'll suggest to move to galactic.
EDIT: To fix foxy, we would have to check which change in this list has broken the launch file: https://github.com/introlab/rtabmap_ros/commits/foxy-devel/launch/ros2/rtabmap.launch.py
I am trying to run the Rtabmap with Oak-D camera and the camera and the madgwick filter for IMU are working fine but when I try to run the rtabmap, I'm getting a type error
Command:
ros2 launch rtabmap_ros rtabmap.launch.py args:='--delete_db_on_start' stereo:=true left_image_topic:= /stereo_inertial_publisher/left/image_rect right_image_topic:= /stereo_inertial_publisher/right/image_rect left_camera_info_topic:=/stereo_inertial_publisher/left/camera_info right_camera_info_topic:=/stereo_inertial_publisher/right/camera_info imu_topic:=/stereo_inertial_publisher/imu/data frame_id:=oak-d_frame approx_sync:=true approx_sync_max_interval:=0.001 wait_imu_to_init:=true
Error: [INFO] [launch]: All log files can be found below /home/deadeye/.ros/log/2022-09-15-15-38-08-397575-deadeye-ROG-Strix-G513QE-G513QE-26143 [INFO] [launch]: Default logging verbosity is set to INFO Task exception was never retrieved future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=TypeError("Allowed value types are bytes, bool, int, float, str, Sequence[bool], Sequence[int], Sequence[float], Sequence[str]. Got <class 'NoneType'>.If the parameter is meant to be a string, try wrapping it in launch_ros.parameter_descriptions.ParameterValue(value, value_type=str)")> Traceback (most recent call last): File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event await self.process_event(next_event) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in process_event visit_all_entities_and_collect_futures(entity, self.context)) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context) [Previous line repeated 2 more times] File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures sub_entities = entity.visit(context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit return self.execute(context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 444, in execute self._perform_substitutions(context) File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/actions/node.py", line 399, in _perform_substitutions evaluated_parameters = evaluate_parameters(context, self.parameters) File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 160, in evaluate_parameters output_params.append(evaluate_parameter_dict(context, param)) File "/opt/ros/foxy/lib/python3.8/site-packages/launch_ros/utilities/evaluate_parameters.py", line 95, in evaluate_parameter_dict raise TypeError( TypeError: Allowed value types are bytes, bool, int, float, str, Sequence[bool], Sequence[int], Sequence[float], Sequence[str]. Got <class 'NoneType'>.If the parameter is meant to be a string, try wrapping it in launch_ros.parameter_descriptions.ParameterValue(value, value_type=str)